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<div class="title">LiftTester.c</div>  </div>
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<a href="_lift_tester_8c.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#pragma config(Hubs,  S1, HTMotor,  HTServo,  none,     none)</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#pragma config(Hubs,  S2, HTMotor,  HTMotor,  HTMotor,  none)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#pragma config(Sensor, S1,     ,               sensorI2CMuxController)</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#pragma config(Sensor, S2,     ,               sensorI2CMuxController)</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#pragma config(Sensor, S3,     ProtoBoard,     sensorI2CCustomFastSkipStates9V)</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#pragma config(Sensor, S4,     IRMux,          sensorI2CCustomFastSkipStates)</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#pragma config(Motor,  mtr_S1_C1_1,     RightBack,     tmotorTetrix, PIDControl, encoder)</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#pragma config(Motor,  mtr_S1_C1_2,     LeftBack,      tmotorTetrix, PIDControl, reversed, encoder)</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#pragma config(Motor,  mtr_S2_C1_1,     RightFront,    tmotorTetrix, PIDControl, encoder)</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#pragma config(Motor,  mtr_S2_C1_2,     LeftFront,     tmotorTetrix, PIDControl, reversed, encoder)</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#pragma config(Motor,  mtr_S2_C2_1,     LeftLift,      tmotorTetrix, openLoop, encoder)</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#pragma config(Motor,  mtr_S2_C2_2,     RightLift,     tmotorTetrix, openLoop, encoder)</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#pragma config(Motor,  mtr_S2_C3_1,     TopLift,       tmotorTetrix, openLoop, encoder)</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#pragma config(Motor,  mtr_S2_C3_2,     motorK,        tmotorTetrix, openLoop)</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#pragma config(Servo,  srvo_S1_C2_1,    LeftGripper1,         tServoStandard)</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#pragma config(Servo,  srvo_S1_C2_2,    LeftGripper2,         tServoStandard)</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#pragma config(Servo,  srvo_S1_C2_3,    RightGripper1,        tServoStandard)</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#pragma config(Servo,  srvo_S1_C2_4,    RightGripper2,        tServoStandard)</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#pragma config(Servo,  srvo_S1_C2_5,    LateralGripper,       tServoContinuousRotation)</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#pragma config(Servo,  srvo_S1_C2_6,    servo6,               tServoNone)</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor"></span><span class="comment">//*!!Code automatically generated by &#39;ROBOTC&#39; configuration wizard               !!*//</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">//                           Autonomous Mode Code Template</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment">// This file contains a template for simplified creation of an autonomous program for an TETRIX robot</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment">// competition.</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment">// You need to customize two functions with code unique to your specific robot.</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"></span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#include &quot;JoystickDriver.c&quot;</span>  <span class="comment">//Include file to &quot;handle&quot; the Bluetooth messages.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#include &quot;drivers/hitechnic-sensormux.h&quot;</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#include &quot;drivers/hitechnic-irseeker-v2.h&quot;</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#include &quot;drivers/hitechnic-protoboard.h&quot;</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="3785__motion__functions_8h.html">3785_motion_functions.h</a>&quot;</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_p_i_d_controlled_motor_8h.html">PIDControlledMotor.h</a>&quot;</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_i_r_controller_8h.html">IRController.h</a>&quot;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div>
<div class="line"><a name="l00045"></a><span class="lineno"><a class="code" href="_lift_tester_8c.html#a09332f84423cad6ca8fd23ed12e5b825">   45</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="_autonomous_8c.html#a09332f84423cad6ca8fd23ed12e5b825">gripperAdjust</a>(<span class="keywordtype">int</span> position)</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;{</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    servo[LeftGripper1]=position;</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    servo[LeftGripper2]=position;</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    servo[RightGripper1]=255-position;</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    servo[RightGripper2]=255-position;</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;}</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;</div>
<div class="line"><a name="l00053"></a><span class="lineno"><a class="code" href="_lift_tester_8c.html#a3822d88a990be1e66ac8c8cbb0737eaf">   53</a></span>&#160;<a class="code" href="struct_p_i_d_controlled_motor.html">PIDControlledMotor</a> <a class="code" href="_autonomous_8c.html#a3822d88a990be1e66ac8c8cbb0737eaf">lift</a>;</div>
<div class="line"><a name="l00054"></a><span class="lineno"><a class="code" href="_lift_tester_8c.html#af01748c820173c26a30a3d98b6d74b2e">   54</a></span>&#160;task <a class="code" href="_autonomous_8c.html#af01748c820173c26a30a3d98b6d74b2e">runControllers</a>()</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;{</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <a class="code" href="_p_i_d_controlled_motor_8h.html#a94aef9829ff340a799e916f01e53bff2">runPIDController</a>(lift);</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;}</div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="code" href="_lift_tester_8c.html#ae394e744af7c641b8b3c9048d2d65ded">   58</a></span>&#160;task <a class="code" href="_autonomous_8c.html#ae394e744af7c641b8b3c9048d2d65ded">moveLift</a>()</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;{</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    lift.<a class="code" href="struct_p_i_d_controlled_motor.html#a09cfc766a233ad617270562cc4146d07">Kp</a>=.6;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    lift.<a class="code" href="struct_p_i_d_controlled_motor.html#a59fac16f568541187ff485c4c47b0ec5">Ki</a>=.0002;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    lift.<a class="code" href="struct_p_i_d_controlled_motor.html#a98268d71502ba080d88a9b1f50fdbe80">Kd</a>=7;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    lift.<a class="code" href="struct_p_i_d_controlled_motor.html#a703cb91f4f4648b3ce8f99e1cf06fe0e">Tp</a>=0;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    lift.<a class="code" href="struct_p_i_d_controlled_motor.html#a63b924880596b9ddcefbedaf0aedaa1e">currentValue</a>=HTPBreadADC(ProtoBoard,0,10);</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;        <span class="keywordflow">while</span>(HTPBreadADC(ProtoBoard,0,10)&lt;(lift.<a class="code" href="struct_p_i_d_controlled_motor.html#ae8aa5cb4faa95420993aad5d4f2e839f">target</a>+50))</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    {</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;            motor[LeftLift]=-100;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        motor[RightLift]=-100;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        motor[TopLift]=-100;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    }</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      motor[LeftLift]=0;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;          motor[RightLift]=0;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;          motor[TopLift]=0;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    StartTask(<a class="code" href="_autonomous_8c.html#af01748c820173c26a30a3d98b6d74b2e">runControllers</a>);</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    wait10Msec(50);</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keywordflow">while</span>(<span class="keyword">true</span>)</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    {</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        lift.<a class="code" href="struct_p_i_d_controlled_motor.html#a63b924880596b9ddcefbedaf0aedaa1e">currentValue</a>=HTPBreadADC(ProtoBoard,0,10);</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        <span class="keywordflow">if</span>(abs(lift.<a class="code" href="struct_p_i_d_controlled_motor.html#a0a923163c4d4ac8a2ecbf16f95d21fe2">power</a>)&gt;=10)</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        {</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        motor[LeftLift]=lift.<a class="code" href="struct_p_i_d_controlled_motor.html#a0a923163c4d4ac8a2ecbf16f95d21fe2">power</a>;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        motor[RightLift]=lift.<a class="code" href="struct_p_i_d_controlled_motor.html#a0a923163c4d4ac8a2ecbf16f95d21fe2">power</a>;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        motor[TopLift]=lift.<a class="code" href="struct_p_i_d_controlled_motor.html#a0a923163c4d4ac8a2ecbf16f95d21fe2">power</a>;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      }</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      {</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        motor[LeftLift]=0;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;          motor[RightLift]=0;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;          motor[TopLift]=0;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        }</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        <span class="keywordflow">if</span>(abs(lift.<a class="code" href="struct_p_i_d_controlled_motor.html#a63b924880596b9ddcefbedaf0aedaa1e">currentValue</a>-lift.<a class="code" href="struct_p_i_d_controlled_motor.html#ae8aa5cb4faa95420993aad5d4f2e839f">target</a>)&lt;=5)</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        {</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;            motor[LeftLift]=0;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;          motor[RightLift]=0;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;          motor[TopLift]=0;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;            <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        }</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    }</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;}</div>
<div class="line"><a name="l00100"></a><span class="lineno"><a class="code" href="_lift_tester_8c.html#abae9ca135819d595513c6337fbd35c9b">  100</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="_autonomous_8c.html#abae9ca135819d595513c6337fbd35c9b">goToPosition</a>(<span class="keywordtype">int</span> position)</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;{</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    StopTask(<a class="code" href="_autonomous_8c.html#ae394e744af7c641b8b3c9048d2d65ded">moveLift</a>);</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    lift.<a class="code" href="struct_p_i_d_controlled_motor.html#ae8aa5cb4faa95420993aad5d4f2e839f">target</a>=position;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    StartTask(<a class="code" href="_autonomous_8c.html#ae394e744af7c641b8b3c9048d2d65ded">moveLift</a>);</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;}</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;</div>
<div class="line"><a name="l00107"></a><span class="lineno"><a class="code" href="_lift_tester_8c.html#a50b66584cef4ef5fec036bc6ed9712b4">  107</a></span>&#160;<span class="keyword">const</span> tMUXSensor <a class="code" href="_autonomous_8c.html#a50b66584cef4ef5fec036bc6ed9712b4">IRSLeft</a> = msensor_S4_1;</div>
<div class="line"><a name="l00108"></a><span class="lineno"><a class="code" href="_lift_tester_8c.html#a8745f90c2f2ecf0fe3a83b5523bc6489">  108</a></span>&#160;<span class="keyword">const</span> tMUXSensor <a class="code" href="_autonomous_8c.html#a8745f90c2f2ecf0fe3a83b5523bc6489">IRSRight</a> = msensor_S4_2;</div>
<div class="line"><a name="l00109"></a><span class="lineno"><a class="code" href="_lift_tester_8c.html#add8b5105027c84691a85650b4fc4d8e4">  109</a></span>&#160;<span class="keyword">const</span> tMUXSensor <a class="code" href="_autonomous_8c.html#add8b5105027c84691a85650b4fc4d8e4">IRSSide</a> = msensor_S4_4;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;<span class="comment">//                                    initializeRobot</span></div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;<span class="comment">// Prior to the start of autonomous mode, you may want to perform some initialization on your robot.</span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;<span class="comment">// Things that might be performed during initialization include:</span></div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;<span class="comment">//   1. Move motors and servos to a preset position.</span></div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;<span class="comment">//   2. Some sensor types take a short while to reach stable values during which time it is best that</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;<span class="comment">//      robot is not moving. For example, gyro sensor needs a few seconds to obtain the background</span></div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;<span class="comment">//      &quot;bias&quot; value.</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;<span class="comment">// In many cases, you may not have to add any code to this function and it will remain &quot;empty&quot;.</span></div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;<span class="comment"></span></div>
<div class="line"><a name="l00126"></a><span class="lineno"><a class="code" href="_lift_tester_8c.html#a7ac9459b8a0394be670365a8fe4d3d52">  126</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="_autonomous_8c.html#a7ac9459b8a0394be670365a8fe4d3d52">initializeRobot</a>()</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;{</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="comment">// Place code here to sinitialize servos to starting positions.</span></div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    <span class="comment">// Sensors are automatically configured and setup by ROBOTC. They may need a brief time to stabilize.</span></div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <a class="code" href="_autonomous_8c.html#abae9ca135819d595513c6337fbd35c9b">goToPosition</a>(265);</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    StartTask(<a class="code" href="_autonomous_8c.html#ae394e744af7c641b8b3c9048d2d65ded">moveLift</a>);</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    <a class="code" href="_autonomous_8c.html#a09332f84423cad6ca8fd23ed12e5b825">gripperAdjust</a>(125);</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;}</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;<span class="comment">//                                         Main Task</span></div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;<span class="comment">// The following is the main code for the autonomous robot operation. Customize as appropriate for</span></div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;<span class="comment">// your specific robot.</span></div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;<span class="comment">// The types of things you might do during the autonomous phase (for the 2008-9 FTC competition)</span></div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;<span class="comment">// are:</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;<span class="comment">//   1. Have the robot follow a line on the game field until it reaches one of the puck storage</span></div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;<span class="comment">//      areas.</span></div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;<span class="comment">//   2. Load pucks into the robot from the storage bin.</span></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;<span class="comment">//   3. Stop the robot and wait for autonomous phase to end.</span></div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;<span class="comment">// This simple template does nothing except play a periodic tone every few seconds.</span></div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;<span class="comment">// At the end of the autonomous period, the FMS will autonmatically abort (stop) execution of the program.</span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;<span class="comment"></span></div>
<div class="line"><a name="l00158"></a><span class="lineno"><a class="code" href="_lift_tester_8c.html#a9a2af8e2cd81255d3bf384db4a382807">  158</a></span>&#160;task <a class="code" href="_autonomous_8c.html#a9a2af8e2cd81255d3bf384db4a382807">main</a>()</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;{</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <a class="code" href="_autonomous_8c.html#a7ac9459b8a0394be670365a8fe4d3d52">initializeRobot</a>();</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; <span class="comment">// Wait for the beginning of autonomous phase.</span></div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    <span class="keywordflow">while</span>(<span class="keyword">true</span>)</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    {</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        nxtDisplayTextLine(1,<span class="stringliteral">&quot;%i&quot;</span>,HTPBreadADC(protoboard,0,10));</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    }</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;}</div>
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